Interaction delay is a ubiquitous problem in both naturally-occurring and artificial systems, including blood cell
production and coordinated flight of bats [1]}, [2]}, [3]}, [4]}, [5]}.
Communication delay can cause emergence of new collective motion patterns and lead to noise-induced switching between bistable
patterns [6]}, [7]}, [8]}; this, in turn, can lead to instability in robotic swarming systems
[9]}, [10]}. Understanding the effects of delay and latency is
key to understanding many swarm behaviors and functions in natural,
as well as engineered, systems [11]}. As another
controlling factor of swarm function,
network communication topology maybe used to improve and generalize swarm
function. For example in [12]}, it was shown how to take
known basic swarm modes, such as flocking, milling and rotating states, and
use network topology to create new hybrid states that form new functions,
such as shielding important swarm controlling agents.
